/**

 * 该历程将订阅/turtle1/pose话题,消息类型turtlesim::Pose

 */

#include <ros/ros.h>
#include <turtlesim/Pose.h>

 

// 接收到订阅消息后，会进入消息回调函数

void poseCallback(const turtlesim::Pose::ConstPtr& msg)//指针
{

	// 将接收到的消息打印出来
	ROS_INFO("Turtle pose: x:%0.6f,y:%0.6f",msg->x,msg->y);
}

int main(int argc,char **argv)
{

	//初始化ROS节点
	ros::init(argc,argv,"pose_subscriber");

	//创建节点语柄
	ros::NodeHandle n;

	// 创建一个Subscriber，订阅名为/turtle/pose的topic,注册回调函数poseCallback
	ros::Subscriber pose_sub=n.subscribe("/turtle1/pose",10,poseCallback);

	// 循环等待回调函数
	ros::spin();

	return 0;

}
